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<div class="title">RotationBase.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2008 Gael Guennebaud &lt;gael.guennebaud@inria.fr&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef EIGEN_ROTATIONBASE_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define EIGEN_ROTATIONBASE_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a> { </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// forward declaration</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationDerived, <span class="keyword">typename</span> MatrixType, <span class="keywordtype">bool</span> IsVector=MatrixType::IsVectorAtCompileTime&gt;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">struct </span>rotation_base_generic_product_selector;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;}</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived, <span class="keywordtype">int</span> Dim_&gt;</div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html">   31</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1RotationBase.html">RotationBase</a></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;{</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">enum</span> { Dim = Dim_ };</div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">   36</a></span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::traits&lt;Derived&gt;::Scalar <a class="code" href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Scalar</a>;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">   39</a></span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,Dim,Dim&gt;</a> <a class="code" href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">RotationMatrixType</a>;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,Dim,1&gt;</a> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> Derived&amp; derived()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> *<span class="keyword">static_cast&lt;</span><span class="keyword">const </span>Derived*<span class="keyword">&gt;</span>(<span class="keyword">this</span>); }</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Derived&amp; derived() { <span class="keywordflow">return</span> *<span class="keyword">static_cast&lt;</span>Derived*<span class="keyword">&gt;</span>(<span class="keyword">this</span>); }</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">   47</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">RotationMatrixType</a> <a class="code" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> derived().toRotationMatrix(); }</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a09a6df8b4801f4ec56823695c1116633">   52</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">RotationMatrixType</a> <a class="code" href="classEigen_1_1RotationBase.html#a09a6df8b4801f4ec56823695c1116633">matrix</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> derived().toRotationMatrix(); }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a17e1494056ac5d1fb4d00d8488b6a0a7">   55</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Derived <a class="code" href="classEigen_1_1RotationBase.html#a17e1494056ac5d1fb4d00d8488b6a0a7">inverse</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> derived().inverse(); }</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#aefdff51f6a7f7a50ce2610afc98836a6">   58</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Isometry&gt;</a> <a class="code" href="classEigen_1_1RotationBase.html#aefdff51f6a7f7a50ce2610afc98836a6">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Translation.html">Translation&lt;Scalar,Dim&gt;</a>&amp; t)<span class="keyword"> const</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Isometry&gt;</a>(*<span class="keyword">this</span>) * t; }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a7c6e897778ebf8c4d5fd48ab2361f81f">   62</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">RotationMatrixType</a> <a class="code" href="classEigen_1_1RotationBase.html#a7c6e897778ebf8c4d5fd48ab2361f81f">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;Scalar&gt;</a>&amp; s)<span class="keyword"> const</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>() * s.factor(); }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <span class="keyword">typename</span> internal::rotation_base_generic_product_selector&lt;Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime&gt;::ReturnType</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#ad553de027676bded14bbed5623dbdb72">   73</a></span>&#160;    <a class="code" href="classEigen_1_1RotationBase.html#ad553de027676bded14bbed5623dbdb72">operator*</a>(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase&lt;OtherDerived&gt;</a>&amp; e)<span class="keyword"> const</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">    </span>{ <span class="keywordflow">return</span> internal::rotation_base_generic_product_selector&lt;Derived,OtherDerived&gt;::run(derived(), e.<a class="code" href="structEigen_1_1EigenBase.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">derived</a>()); }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt; <span class="keyword">friend</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a38f506f2d3617685d1f684cdbc4f8dd4">   78</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">RotationMatrixType</a> <a class="code" href="classEigen_1_1RotationBase.html#a38f506f2d3617685d1f684cdbc4f8dd4">operator*</a>(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase&lt;OtherDerived&gt;</a>&amp; l, <span class="keyword">const</span> Derived&amp; r)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    { <span class="keywordflow">return</span> l.<a class="code" href="structEigen_1_1EigenBase.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">derived</a>() * r.toRotationMatrix(); }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a615ece720e9826703b399dfaeaba1ae0">   82</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">friend</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Affine&gt;</a> <a class="code" href="classEigen_1_1RotationBase.html#a615ece720e9826703b399dfaeaba1ae0">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;Scalar,Dim&gt;</a>&amp; l, <span class="keyword">const</span> Derived&amp; r)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    { </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Affine&gt;</a> res(r);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      res.<a class="code" href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">linear</a>().applyOnTheLeft(l);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a1258d0d2205a25d75f17ac947b28ef77">   91</a></span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode&gt;</a> <a class="code" href="classEigen_1_1RotationBase.html#a1258d0d2205a25d75f17ac947b28ef77">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp; t)<span class="keyword"> const</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>() * t; }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherVectorType&gt;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">inline</span> VectorType _transformVector(<span class="keyword">const</span> OtherVectorType&amp; v)<span class="keyword"> const</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>() * v; }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;};</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">// implementation of the generic product rotation * matrix</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationDerived, <span class="keyword">typename</span> MatrixType&gt;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">struct </span>rotation_base_generic_product_selector&lt;RotationDerived,MatrixType,false&gt;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;{</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keyword">enum</span> { Dim = RotationDerived::Dim };</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keyword">typedef</span> Matrix&lt;typename RotationDerived::Scalar,Dim,Dim&gt; ReturnType;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> ReturnType run(<span class="keyword">const</span> RotationDerived&amp; r, <span class="keyword">const</span> MatrixType&amp; m)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  { <span class="keywordflow">return</span> r.toRotationMatrix() * m; }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;};</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationDerived, <span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> MaxDim&gt;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">struct </span>rotation_base_generic_product_selector&lt; RotationDerived, DiagonalMatrix&lt;Scalar,Dim,MaxDim&gt;, false &gt;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,Affine&gt; ReturnType;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> ReturnType run(<span class="keyword">const</span> RotationDerived&amp; r, <span class="keyword">const</span> DiagonalMatrix&lt;Scalar,Dim,MaxDim&gt;&amp; m)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    ReturnType res(r);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    res.linear() *= m;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;};</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationDerived,<span class="keyword">typename</span> OtherVectorType&gt;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">struct </span>rotation_base_generic_product_selector&lt;RotationDerived,OtherVectorType,true&gt;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;{</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keyword">enum</span> { Dim = RotationDerived::Dim };</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keyword">typedef</span> Matrix&lt;typename RotationDerived::Scalar,Dim,1&gt; ReturnType;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> EIGEN_STRONG_INLINE ReturnType run(<span class="keyword">const</span> RotationDerived&amp; r, <span class="keyword">const</span> OtherVectorType&amp; v)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">return</span> r._transformVector(v);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;};</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;} <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Rows_, <span class="keywordtype">int</span> Cols_, <span class="keywordtype">int</span> Storage_, <span class="keywordtype">int</span> MaxRows_, <span class="keywordtype">int</span> MaxCols_&gt;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Matrix.html#a3e8efdd1bc82593033a514b562144ca0">Matrix&lt;Scalar_, Rows_, Cols_, Storage_, MaxRows_, MaxCols_&gt;</a></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classEigen_1_1Matrix.html#ab0384c378a02734f5f7f18f6ca79f01b">  143</a></span>&#160;<a class="code" href="classEigen_1_1Matrix.html#a3e8efdd1bc82593033a514b562144ca0">::Matrix</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase&lt;OtherDerived,ColsAtCompileTime&gt;</a>&amp; r)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(<a class="code" href="classEigen_1_1Matrix.html">Matrix</a>,<span class="keywordtype">int</span>(OtherDerived::Dim),<span class="keywordtype">int</span>(OtherDerived::Dim))</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  *<span class="keyword">this</span> = r.<a class="code" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Rows_, <span class="keywordtype">int</span> Cols_, <span class="keywordtype">int</span> Storage_, <span class="keywordtype">int</span> MaxRows_, <span class="keywordtype">int</span> MaxCols_&gt;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar_, Rows_, Cols_, Storage_, MaxRows_, MaxCols_&gt;</a>&amp;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<a class="code" href="classEigen_1_1Matrix.html#a2b09269043e1ac5bed7f70108404af07">Matrix&lt;Scalar_, Rows_, Cols_, Storage_, MaxRows_, MaxCols_&gt;</a></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classEigen_1_1Matrix.html#ab3c112a7393573fa8553f338b92a7ca5">  157</a></span>&#160;<a class="code" href="classEigen_1_1Matrix.html#a2b09269043e1ac5bed7f70108404af07">::operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase&lt;OtherDerived,ColsAtCompileTime&gt;</a>&amp; r)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;{</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(<a class="code" href="classEigen_1_1Matrix.html">Matrix</a>,<span class="keywordtype">int</span>(OtherDerived::Dim),<span class="keywordtype">int</span>(OtherDerived::Dim))</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span> = r.<a class="code" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;}</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim&gt;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,2,2&gt;</a> toRotationMatrix(<span class="keyword">const</span> Scalar&amp; s)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;{</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Rotation2D.html">Rotation2D&lt;Scalar&gt;</a>(s).<a class="code" href="classEigen_1_1Rotation2D.html#a961167d84c8b9a989f2ba8609a6afcaf">toRotationMatrix</a>();</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> Matrix&lt;Scalar,Dim,Dim&gt; toRotationMatrix(<span class="keyword">const</span> RotationBase&lt;OtherDerived,Dim&gt;&amp; r)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;{</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordflow">return</span> r.toRotationMatrix();</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">const</span> MatrixBase&lt;OtherDerived&gt;&amp; toRotationMatrix(<span class="keyword">const</span> MatrixBase&lt;OtherDerived&gt;&amp; mat)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;{</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim &amp;&amp; OtherDerived::ColsAtCompileTime==Dim,</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">return</span> mat;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;} <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;} <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_ROTATIONBASE_H</span></div>
<div class="ttc" id="aclassEigen_1_1DiagonalMatrix_html"><div class="ttname"><a href="classEigen_1_1DiagonalMatrix.html">Eigen::DiagonalMatrix</a></div><div class="ttdoc">Represents a diagonal matrix with its storage.</div><div class="ttdef"><b>Definition:</b> DiagonalMatrix.h:144</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix</a></div><div class="ttdoc">The matrix class, also used for vectors and row-vectors.</div><div class="ttdef"><b>Definition:</b> Matrix.h:182</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html_a2b09269043e1ac5bed7f70108404af07"><div class="ttname"><a href="classEigen_1_1Matrix.html#a2b09269043e1ac5bed7f70108404af07">Eigen::Matrix::operator=</a></div><div class="ttdeci">Matrix &amp; operator=(const Matrix &amp;other)</div><div class="ttdoc">Assigns matrices to each other.</div><div class="ttdef"><b>Definition:</b> Matrix.h:208</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html_a3e8efdd1bc82593033a514b562144ca0"><div class="ttname"><a href="classEigen_1_1Matrix.html#a3e8efdd1bc82593033a514b562144ca0">Eigen::Matrix::Matrix</a></div><div class="ttdeci">Matrix()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition:</b> Matrix.h:261</div></div>
<div class="ttc" id="aclassEigen_1_1Rotation2D_html"><div class="ttname"><a href="classEigen_1_1Rotation2D.html">Eigen::Rotation2D</a></div><div class="ttdoc">Represents a rotation/orientation in a 2 dimensional space.</div><div class="ttdef"><b>Definition:</b> Rotation2D.h:44</div></div>
<div class="ttc" id="aclassEigen_1_1Rotation2D_html_a961167d84c8b9a989f2ba8609a6afcaf"><div class="ttname"><a href="classEigen_1_1Rotation2D.html#a961167d84c8b9a989f2ba8609a6afcaf">Eigen::Rotation2D::toRotationMatrix</a></div><div class="ttdeci">Matrix2 toRotationMatrix() const</div><div class="ttdef"><b>Definition:</b> Rotation2D.h:190</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html"><div class="ttname"><a href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a></div><div class="ttdoc">Common base class for compact rotation representations.</div><div class="ttdef"><b>Definition:</b> RotationBase.h:32</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a09a6df8b4801f4ec56823695c1116633"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a09a6df8b4801f4ec56823695c1116633">Eigen::RotationBase::matrix</a></div><div class="ttdeci">RotationMatrixType matrix() const</div><div class="ttdef"><b>Definition:</b> RotationBase.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a1258d0d2205a25d75f17ac947b28ef77"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a1258d0d2205a25d75f17ac947b28ef77">Eigen::RotationBase::operator*</a></div><div class="ttdeci">Transform&lt; Scalar, Dim, Mode &gt; operator*(const Transform&lt; Scalar, Dim, Mode, Options &gt; &amp;t) const</div><div class="ttdef"><b>Definition:</b> RotationBase.h:91</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a17e1494056ac5d1fb4d00d8488b6a0a7"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a17e1494056ac5d1fb4d00d8488b6a0a7">Eigen::RotationBase::inverse</a></div><div class="ttdeci">Derived inverse() const</div><div class="ttdef"><b>Definition:</b> RotationBase.h:55</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a2208f5cae3e61336a9fedb4b8ad37d60"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a2208f5cae3e61336a9fedb4b8ad37d60">Eigen::RotationBase::RotationMatrixType</a></div><div class="ttdeci">Matrix&lt; Scalar, Dim, Dim &gt; RotationMatrixType</div><div class="ttdef"><b>Definition:</b> RotationBase.h:39</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a38f506f2d3617685d1f684cdbc4f8dd4"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a38f506f2d3617685d1f684cdbc4f8dd4">Eigen::RotationBase::operator*</a></div><div class="ttdeci">friend RotationMatrixType operator*(const EigenBase&lt; OtherDerived &gt; &amp;l, const Derived &amp;r)</div><div class="ttdef"><b>Definition:</b> RotationBase.h:78</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a615ece720e9826703b399dfaeaba1ae0"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a615ece720e9826703b399dfaeaba1ae0">Eigen::RotationBase::operator*</a></div><div class="ttdeci">friend Transform&lt; Scalar, Dim, Affine &gt; operator*(const DiagonalMatrix&lt; Scalar, Dim &gt; &amp;l, const Derived &amp;r)</div><div class="ttdef"><b>Definition:</b> RotationBase.h:82</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a7c6e897778ebf8c4d5fd48ab2361f81f"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a7c6e897778ebf8c4d5fd48ab2361f81f">Eigen::RotationBase::operator*</a></div><div class="ttdeci">RotationMatrixType operator*(const UniformScaling&lt; Scalar &gt; &amp;s) const</div><div class="ttdef"><b>Definition:</b> RotationBase.h:62</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_a942f03c9a5bfbad71a313aee8d37887e"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a942f03c9a5bfbad71a313aee8d37887e">Eigen::RotationBase::Scalar</a></div><div class="ttdeci">internal::traits&lt; Derived &gt;::Scalar Scalar</div><div class="ttdef"><b>Definition:</b> RotationBase.h:36</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_ac69c68d9a256dd0d369b0f32c2b654e1"><div class="ttname"><a href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">Eigen::RotationBase::toRotationMatrix</a></div><div class="ttdeci">RotationMatrixType toRotationMatrix() const</div><div class="ttdef"><b>Definition:</b> RotationBase.h:47</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_ad553de027676bded14bbed5623dbdb72"><div class="ttname"><a href="classEigen_1_1RotationBase.html#ad553de027676bded14bbed5623dbdb72">Eigen::RotationBase::operator*</a></div><div class="ttdeci">internal::rotation_base_generic_product_selector&lt; Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime &gt;::ReturnType operator*(const EigenBase&lt; OtherDerived &gt; &amp;e) const</div><div class="ttdef"><b>Definition:</b> RotationBase.h:73</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_aefdff51f6a7f7a50ce2610afc98836a6"><div class="ttname"><a href="classEigen_1_1RotationBase.html#aefdff51f6a7f7a50ce2610afc98836a6">Eigen::RotationBase::operator*</a></div><div class="ttdeci">Transform&lt; Scalar, Dim, Isometry &gt; operator*(const Translation&lt; Scalar, Dim &gt; &amp;t) const</div><div class="ttdef"><b>Definition:</b> RotationBase.h:58</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html"><div class="ttname"><a href="classEigen_1_1Transform.html">Eigen::Transform</a></div><div class="ttdoc">Represents an homogeneous transformation in a N dimensional space.</div><div class="ttdef"><b>Definition:</b> Transform.h:207</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a10681d9bbc6a7a81a9111b1f9e186948"><div class="ttname"><a href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">Eigen::Transform::linear</a></div><div class="ttdeci">ConstLinearPart linear() const</div><div class="ttdef"><b>Definition:</b> Transform.h:398</div></div>
<div class="ttc" id="aclassEigen_1_1Translation_html"><div class="ttname"><a href="classEigen_1_1Translation.html">Eigen::Translation</a></div><div class="ttdoc">Represents a translation transformation.</div><div class="ttdef"><b>Definition:</b> Translation.h:33</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html"><div class="ttname"><a href="classEigen_1_1UniformScaling.html">Eigen::UniformScaling</a></div><div class="ttdoc">Represents a generic uniform scaling transformation.</div><div class="ttdef"><b>Definition:</b> Scaling.h:52</div></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div><div class="ttdef"><b>Definition:</b> Core:139</div></div>
<div class="ttc" id="astructEigen_1_1EigenBase_html"><div class="ttname"><a href="structEigen_1_1EigenBase.html">Eigen::EigenBase</a></div><div class="ttdef"><b>Definition:</b> EigenBase.h:32</div></div>
<div class="ttc" id="astructEigen_1_1EigenBase_html_a1fbabe7f12bcbfba3b9a448b1f5e46fa"><div class="ttname"><a href="structEigen_1_1EigenBase.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">Eigen::EigenBase::derived</a></div><div class="ttdeci">Derived &amp; derived()</div><div class="ttdef"><b>Definition:</b> EigenBase.h:48</div></div>
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